def __init__(self, date, run, x, y, z, xrem, yrem, loc):
perffile = '%s/%s-perf-test-run%s.txt' % (loc, date, run)
rd = ReadData(perffile)
self.axesn = [x, y, z]
self.axesr = [xrem, yrem] # remove outer bands from axes
self.axesv = [[], [], []]
self.data = rd.genData()
def __init__(self):
self.AM = Model().solve() # return the values of the model, list
self.one = ReadData("TTRP_01.txt")
self.truck_num = 5
self.trailer_num = 3
# different TTRP_xx.txt need different argument
# self.all_locations = [['a', ['30.0', '40.0']]] + self.one.get_locations() # 01.txt
self.all_locations = [['a', ['30.0', '40.0']]
] + self.one.get_locations() # 02.txt
class Server(object):
"""docstring for Server"""
def __init__(self, **kwargs):
super(Server, self).__init__()
self._init_attr()
#----------------------------------------------------------------------
# 类属性设置
#----------------------------------------------------------------------
def _init_attr(self):
logger.debug('_init_attr')
self.rd = ReadData()
def startup(self):
logger.debug('startup')
def _do_command(self):
logger.debug('do command')
command = raw_input('>>#')
if command == 'q':
sys.exit(0)
def workerDaily(self):
logger.debug('workerDaily')
while True:
#logger.debug('working')
print time.ctime()
#self.rd.getSina();
self.rd.writeDailyShare(self.rd.daily)
print time.ctime()
time.sleep(60)
def workerShares(self):
logger.debug('workerShares')
while True:
#logger.debug('working')
print time.ctime()
#self.rd.getSina();
self.rd.writeDailyShare(self.rd.shares)
print time.ctime()
time.sleep(0.5)
#----------------------------------------------------------------------
# 主消息分发函数
#----------------------------------------------------------------------
def process(self):
logger.debug('process')
thr = threading.Thread(target=self.workerShares)
thr.start()
t_woker = threading.Thread(target=self.workerDaily)
t_woker.start()
if(conf.single.outofTrade()):
sys.exit()
logger.debug('stop')
def print_keys(loc, date, run):
perffile = '%s/%s-perf-test-run%s.txt' % (loc, date, run)
data = ReadData(perffile).genData()
for k in data[0].keys():
print(k)
def __init__(self, filename, filename_r):
self.filename = filename
self.flight = ReadData(self.filename)
self.flight_data = self.flight.read_data();
self.app = QtGui.QApplication([])
self.win = QtGui.QMainWindow()
self.area = DockArea()
self.win.setCentralWidget(self.area)
self.win.showMaximized()
self.win.setWindowTitle('MPU Simulation')
self.win.setGeometry(10, 25, 1920, 1024)
#Reference Data
self.filename_r = filename_r
self.reference = ReadData(self.filename_r)
self.reference_data = self.reference.read_data();
# Create docks, place them into the window one at a time.
self.d_a = Dock("Animation", size=(500, 400))
self.d_n = Dock("North (Xn)", size=(500, 200))
self.d_e = Dock("East (Yn)", size=(500, 200))
self.d_h = Dock("Height (h)", size=(500, 200))
self.d_v = Dock("Velocity V", size=(500, 200))
self.d_u_ = Dock("Velocity u", size=(500, 200))
self.d_v_ = Dock("Velocity v", size=(500, 200))
self.d_w_ = Dock("Velocity w", size=(500, 200))
self.d_p = Dock("Velocity p", size=(500, 200))
self.d_q = Dock("Velocity q", size=(500, 200))
self.d_r = Dock("Velocity r", size=(500, 200))
self.d_phi = Dock("Roll", size=(500, 200))
self.d_theta = Dock("Pitch", size=(500,200))
self.d_psi = Dock("Yaw", size=(500,200))
self.d_w = Dock("Motors Rotation", size=(500, 200))
self.d_t = Dock("Motors Angle", size=(500,200))
self.d_deltae = Dock("Elevons", size=(500,200))
self.area.addDock(self.d_a, 'left')
self.area.addDock(self.d_n, 'right')
self.area.addDock(self.d_e, 'below', self.d_n)
self.area.addDock(self.d_h, 'below', self.d_e)
self.area.addDock(self.d_v, 'below', self.d_h)
self.area.addDock(self.d_u_, 'below', self.d_v)
self.area.addDock(self.d_v_, 'below', self.d_u_)
self.area.addDock(self.d_w_, 'below', self.d_v_)
self.area.addDock(self.d_phi, 'bottom', self.d_n)
self.area.addDock(self.d_theta, 'below', self.d_phi)
self.area.addDock(self.d_psi, 'below', self.d_theta)
self.area.addDock(self.d_p, 'below', self.d_psi)
self.area.addDock(self.d_q, 'below', self.d_p)
self.area.addDock(self.d_r, 'below', self.d_q)
self.area.addDock(self.d_w, 'bottom', self.d_phi)
self.area.addDock(self.d_t, 'below', self.d_w)
self.area.addDock(self.d_deltae, 'below', self.d_t)
#Animation Window
self.d_a.hideTitleBar()
self.w = gl.GLViewWidget()
self.zgrid = gl.GLGridItem()
self.w.addItem(self.zgrid)
self.w.setWindowTitle('Animation')
self.w.setCameraPosition(distance=20, azimuth=90, elevation=60)
self.x0 = self.flight_data[self.flight.i_north][0]
self.y0 = -self.flight_data[self.flight.i_east][0]
self.h0 = self.flight_data[self.flight.i_height][0]
#Fuselage Model
self.model_fus = Model("./obj_files/MPUFuselage.obj")
self.md_fus = gl.MeshData(vertexes=self.model_fus.returnMesh())
self.fuselage = gl.GLMeshItem(meshdata=self.md_fus, color=(1, 1, 1, 1),
smooth=False, shader='shaded', glOptions='opaque')
self.d_a.addWidget(self.w)
#Waypoint Model
self.model_wayp = Model("./obj_files/wayp.obj")
self.md_wayp = gl.MeshData(vertexes=self.model_wayp.returnMesh())
self.waypoint = gl.GLMeshItem(meshdata=self.md_wayp, color=(1, 1, 1, 1),
smooth=False, shader='shaded', glOptions='opaque')
self.d_a.addWidget(self.w)
#Plots Setup
#North Displacement
self.w_n = pg.PlotWidget(title="North Displacement")
self.w_n.setDownsampling(mode='peak')
self.w_n.setClipToView(True)
self.curve_x = self.w_n.plot()
self.curve_x_r = self.w_n.plot()
self.w_n.setLabel('bottom', 'Time', 's')
self.w_n.setLabel('left', 'Xn', 'm')
self.d_n.addWidget(self.w_n)
#East Displacement
self.w_e = pg.PlotWidget(title="East Displacement")
self.w_e.setDownsampling(mode='peak')
self.w_e.setClipToView(True)
self.curve_y = self.w_e.plot()
self.w_e.setLabel('bottom', 'Time', 's')
self.w_e.setLabel('left', 'Yn', 'm')
self.d_e.addWidget(self.w_e)
#Height
self.w_h = pg.PlotWidget(title="Height Displacement")
self.w_h.setDownsampling(mode='peak')
self.w_h.setClipToView(True)
self.curve_h = self.w_h.plot()
self.w_h.setLabel('bottom', 'Time', 's')
self.w_h.setLabel('left', 'h', 'm')
self.d_h.addWidget(self.w_h)
#Velocity V
self.w_v = pg.PlotWidget(title="Total Velocity")
self.w_v.setDownsampling(mode='peak')
self.w_v.setClipToView(True)
self.curve_V = self.w_v.plot()
self.w_v.setLabel('bottom', 'Time', 's')
self.w_v.setLabel('left', 'V', 'm/s')
self.d_v.addWidget(self.w_v)
#Velocity u
self.w_u_ = pg.PlotWidget(title="Velocity u")
self.w_u_.setDownsampling(mode='peak')
self.w_u_.setClipToView(True)
self.curve_u_ = self.w_u_.plot()
self.w_u_.setLabel('bottom', 'Time', 's')
self.w_u_.setLabel('left', 'u', 'm/s')
self.d_u_.addWidget(self.w_u_)
#Velocity v
self.w_v_ = pg.PlotWidget(title="Velocity v")
self.w_v_.setDownsampling(mode='peak')
self.w_v_.setClipToView(True)
self.curve_v_ = self.w_v_.plot()
self.w_v_.setLabel('bottom', 'Time', 's')
self.w_v_.setLabel('left', 'v', 'm/s')
self.d_v_.addWidget(self.w_v_)
#Velocity w
self.w_w_ = pg.PlotWidget(title="Velocity w")
self.w_w_.setDownsampling(mode='peak')
self.w_w_.setClipToView(True)
self.curve_w_ = self.w_w_.plot()
self.w_w_.setLabel('bottom', 'Time', 's')
self.w_w_.setLabel('left', 'w', 'm/s')
self.d_w_.addWidget(self.w_w_)
#Velocity p
self.w_p = pg.PlotWidget(title="Rotational Velocity p")
self.w_p.setDownsampling(mode='peak')
self.w_p.setClipToView(True)
self.curve_p = self.w_p.plot()
self.w_p.setLabel('bottom', 'Time', 's')
self.w_p.setLabel('left', 'p', 'rad/s')
self.d_p.addWidget(self.w_p)
#Velocity q
self.w_q = pg.PlotWidget(title="Rotational Velocity q")
self.w_q.setDownsampling(mode='peak')
self.w_q.setClipToView(True)
self.curve_q = self.w_q.plot()
self.w_q.setLabel('bottom', 'Time', 's')
self.w_q.setLabel('left', 'q', 'rad/s')
self.d_q.addWidget(self.w_q)
#Velocity q
self.w_r = pg.PlotWidget(title="Rotational Velocity r")
self.w_r.setDownsampling(mode='peak')
self.w_r.setClipToView(True)
self.curve_r = self.w_r.plot()
self.w_r.setLabel('bottom', 'Time', 's')
self.w_r.setLabel('left', 'r', 'rad/s')
self.d_r.addWidget(self.w_r)
#Roll
self.w_phi = pg.PlotWidget(title="Roll Angle")
self.w_phi.setDownsampling(mode='peak')
self.w_phi.setClipToView(True)
self.curve_phi = self.w_phi.plot()
self.w_phi.setLabel('bottom', 'Time', 's')
self.w_phi.setLabel('left', 'Roll Anlge', 'rad')
self.d_phi.addWidget(self.w_phi)
#Pitch
self.w_theta = pg.PlotWidget(title="Pitch Angle")
self.w_theta.setDownsampling(mode='peak')
self.w_theta.setClipToView(True)
self.curve_theta = self.w_theta.plot()
self.w_theta.setLabel('bottom', 'Time', 's')
self.w_theta.setLabel('left', 'Pitch Angle', 'rad')
self.d_theta.addWidget(self.w_theta)
#Yaw
self.w_psi = pg.PlotWidget(title="Yaw Angle")
self.w_psi.setDownsampling(mode='peak')
self.w_psi.setClipToView(True)
self.curve_psi = self.w_psi.plot()
self.w_psi.setLabel('bottom', 'Time', 's')
self.w_psi.setLabel('left', 'Yaw Angle', 'rad')
self.d_psi.addWidget(self.w_psi)
#Motors Rotation
self.w_w = pg.PlotWidget(title="Motors Rotational Velocity")
self.w_w.setDownsampling(mode='peak')
self.w_w.setClipToView(True)
self.curve_wl = self.w_w.plot(pen = (255,0,0))
self.curve_wr = self.w_w.plot(pen = (0,255,0))
self.curve_wb = self.w_w.plot(pen = (0,0,255))
self.w_w.setLabel('bottom', 'Time', 's')
self.w_w.setLabel('left', 'Rotational Velocity', 'rpm')
self.w_w.addLegend()
self.l_w = self.w_w.plotItem.legend
self.l_w.addItem(self.curve_wl, "Left Motor")
self.l_w.addItem(self.curve_wr, "Right Motor")
self.l_w.addItem(self.curve_wb, "Rear Motor")
self.d_w.addWidget(self.w_w)
#Motors Angle
self.w_t = pg.PlotWidget(title="Motors Angle")
self.w_t.setDownsampling(mode='peak')
self.w_t.setClipToView(True)
self.curve_tl = self.w_t.plot(pen = (255,0,0))
self.curve_tr = self.w_t.plot(pen = (0,255,0))
self.w_t.setLabel('bottom', 'Time', 's')
self.w_t.setLabel('left', 'Motors Angle', 'deg')
self.d_t.addWidget(self.w_t)
self.w_t.addLegend()
self.l_t = self.w_t.plotItem.legend
self.l_t.addItem(self.curve_tl, "Left Motor")
self.l_t.addItem(self.curve_tr, "Right Motor")
self.d_t.addWidget(self.w_t)
#Elevons Angle
self.w_deltae = pg.PlotWidget(title="Elevons Angle")
self.w_deltae.setDownsampling(mode='peak')
self.w_deltae.setClipToView(True)
self.curve_deltael = self.w_deltae.plot(pen = (255,0,0))
self.curve_deltaer = self.w_deltae.plot(pen = (0,255,0))
self.w_deltae.setLabel('bottom', 'Time', 's')
self.w_deltae.setLabel('left', 'Elevons Angle', 'deg')
self.d_deltae.addWidget(self.w_deltae)
self.w_deltae.addLegend()
self.l_deltae = self.w_deltae.plotItem.legend
self.l_deltae.addItem(self.curve_deltael, "Left Elevon")
self.l_deltae.addItem(self.curve_deltaer, "Right Elevon")
self.d_deltae.addWidget(self.w_deltae)
#Data Animation
self.pts = np.vstack([self.flight_data[self.flight.i_north],
-self.flight_data[self.flight.i_east],
self.flight_data[self.flight.i_height]]).transpose()
self.plt = gl.GLLinePlotItem(pos=self.pts, color=pg.glColor(('b')),
width=1, antialias=True)
self.w.addItem(self.plt)
#Reference
self.pts_r = np.stack([self.reference_data[self.reference.i_north_r],
-self.reference_data[self.reference.i_east_r],
self.reference_data[self.reference.i_height_r]]).transpose()
self.plt_r = gl.GLLinePlotItem(pos=self.pts_r, color=pg.glColor(('r')),
width=1, antialias=True)
# print(self.pts_r[0])
self.w.addItem(self.plt_r)
#Add Geometry
self.w.addItem(self.fuselage)
self.w.addItem(self.waypoint)
self.ti_in = 0
class Animation(object):
def __init__(self, filename, filename_r):
self.filename = filename
self.flight = ReadData(self.filename)
self.flight_data = self.flight.read_data();
self.app = QtGui.QApplication([])
self.win = QtGui.QMainWindow()
self.area = DockArea()
self.win.setCentralWidget(self.area)
self.win.showMaximized()
self.win.setWindowTitle('MPU Simulation')
self.win.setGeometry(10, 25, 1920, 1024)
#Reference Data
self.filename_r = filename_r
self.reference = ReadData(self.filename_r)
self.reference_data = self.reference.read_data();
# Create docks, place them into the window one at a time.
self.d_a = Dock("Animation", size=(500, 400))
self.d_n = Dock("North (Xn)", size=(500, 200))
self.d_e = Dock("East (Yn)", size=(500, 200))
self.d_h = Dock("Height (h)", size=(500, 200))
self.d_v = Dock("Velocity V", size=(500, 200))
self.d_u_ = Dock("Velocity u", size=(500, 200))
self.d_v_ = Dock("Velocity v", size=(500, 200))
self.d_w_ = Dock("Velocity w", size=(500, 200))
self.d_p = Dock("Velocity p", size=(500, 200))
self.d_q = Dock("Velocity q", size=(500, 200))
self.d_r = Dock("Velocity r", size=(500, 200))
self.d_phi = Dock("Roll", size=(500, 200))
self.d_theta = Dock("Pitch", size=(500,200))
self.d_psi = Dock("Yaw", size=(500,200))
self.d_w = Dock("Motors Rotation", size=(500, 200))
self.d_t = Dock("Motors Angle", size=(500,200))
self.d_deltae = Dock("Elevons", size=(500,200))
self.area.addDock(self.d_a, 'left')
self.area.addDock(self.d_n, 'right')
self.area.addDock(self.d_e, 'below', self.d_n)
self.area.addDock(self.d_h, 'below', self.d_e)
self.area.addDock(self.d_v, 'below', self.d_h)
self.area.addDock(self.d_u_, 'below', self.d_v)
self.area.addDock(self.d_v_, 'below', self.d_u_)
self.area.addDock(self.d_w_, 'below', self.d_v_)
self.area.addDock(self.d_phi, 'bottom', self.d_n)
self.area.addDock(self.d_theta, 'below', self.d_phi)
self.area.addDock(self.d_psi, 'below', self.d_theta)
self.area.addDock(self.d_p, 'below', self.d_psi)
self.area.addDock(self.d_q, 'below', self.d_p)
self.area.addDock(self.d_r, 'below', self.d_q)
self.area.addDock(self.d_w, 'bottom', self.d_phi)
self.area.addDock(self.d_t, 'below', self.d_w)
self.area.addDock(self.d_deltae, 'below', self.d_t)
#Animation Window
self.d_a.hideTitleBar()
self.w = gl.GLViewWidget()
self.zgrid = gl.GLGridItem()
self.w.addItem(self.zgrid)
self.w.setWindowTitle('Animation')
self.w.setCameraPosition(distance=20, azimuth=90, elevation=60)
self.x0 = self.flight_data[self.flight.i_north][0]
self.y0 = -self.flight_data[self.flight.i_east][0]
self.h0 = self.flight_data[self.flight.i_height][0]
#Fuselage Model
self.model_fus = Model("./obj_files/MPUFuselage.obj")
self.md_fus = gl.MeshData(vertexes=self.model_fus.returnMesh())
self.fuselage = gl.GLMeshItem(meshdata=self.md_fus, color=(1, 1, 1, 1),
smooth=False, shader='shaded', glOptions='opaque')
self.d_a.addWidget(self.w)
#Waypoint Model
self.model_wayp = Model("./obj_files/wayp.obj")
self.md_wayp = gl.MeshData(vertexes=self.model_wayp.returnMesh())
self.waypoint = gl.GLMeshItem(meshdata=self.md_wayp, color=(1, 1, 1, 1),
smooth=False, shader='shaded', glOptions='opaque')
self.d_a.addWidget(self.w)
#Plots Setup
#North Displacement
self.w_n = pg.PlotWidget(title="North Displacement")
self.w_n.setDownsampling(mode='peak')
self.w_n.setClipToView(True)
self.curve_x = self.w_n.plot()
self.curve_x_r = self.w_n.plot()
self.w_n.setLabel('bottom', 'Time', 's')
self.w_n.setLabel('left', 'Xn', 'm')
self.d_n.addWidget(self.w_n)
#East Displacement
self.w_e = pg.PlotWidget(title="East Displacement")
self.w_e.setDownsampling(mode='peak')
self.w_e.setClipToView(True)
self.curve_y = self.w_e.plot()
self.w_e.setLabel('bottom', 'Time', 's')
self.w_e.setLabel('left', 'Yn', 'm')
self.d_e.addWidget(self.w_e)
#Height
self.w_h = pg.PlotWidget(title="Height Displacement")
self.w_h.setDownsampling(mode='peak')
self.w_h.setClipToView(True)
self.curve_h = self.w_h.plot()
self.w_h.setLabel('bottom', 'Time', 's')
self.w_h.setLabel('left', 'h', 'm')
self.d_h.addWidget(self.w_h)
#Velocity V
self.w_v = pg.PlotWidget(title="Total Velocity")
self.w_v.setDownsampling(mode='peak')
self.w_v.setClipToView(True)
self.curve_V = self.w_v.plot()
self.w_v.setLabel('bottom', 'Time', 's')
self.w_v.setLabel('left', 'V', 'm/s')
self.d_v.addWidget(self.w_v)
#Velocity u
self.w_u_ = pg.PlotWidget(title="Velocity u")
self.w_u_.setDownsampling(mode='peak')
self.w_u_.setClipToView(True)
self.curve_u_ = self.w_u_.plot()
self.w_u_.setLabel('bottom', 'Time', 's')
self.w_u_.setLabel('left', 'u', 'm/s')
self.d_u_.addWidget(self.w_u_)
#Velocity v
self.w_v_ = pg.PlotWidget(title="Velocity v")
self.w_v_.setDownsampling(mode='peak')
self.w_v_.setClipToView(True)
self.curve_v_ = self.w_v_.plot()
self.w_v_.setLabel('bottom', 'Time', 's')
self.w_v_.setLabel('left', 'v', 'm/s')
self.d_v_.addWidget(self.w_v_)
#Velocity w
self.w_w_ = pg.PlotWidget(title="Velocity w")
self.w_w_.setDownsampling(mode='peak')
self.w_w_.setClipToView(True)
self.curve_w_ = self.w_w_.plot()
self.w_w_.setLabel('bottom', 'Time', 's')
self.w_w_.setLabel('left', 'w', 'm/s')
self.d_w_.addWidget(self.w_w_)
#Velocity p
self.w_p = pg.PlotWidget(title="Rotational Velocity p")
self.w_p.setDownsampling(mode='peak')
self.w_p.setClipToView(True)
self.curve_p = self.w_p.plot()
self.w_p.setLabel('bottom', 'Time', 's')
self.w_p.setLabel('left', 'p', 'rad/s')
self.d_p.addWidget(self.w_p)
#Velocity q
self.w_q = pg.PlotWidget(title="Rotational Velocity q")
self.w_q.setDownsampling(mode='peak')
self.w_q.setClipToView(True)
self.curve_q = self.w_q.plot()
self.w_q.setLabel('bottom', 'Time', 's')
self.w_q.setLabel('left', 'q', 'rad/s')
self.d_q.addWidget(self.w_q)
#Velocity q
self.w_r = pg.PlotWidget(title="Rotational Velocity r")
self.w_r.setDownsampling(mode='peak')
self.w_r.setClipToView(True)
self.curve_r = self.w_r.plot()
self.w_r.setLabel('bottom', 'Time', 's')
self.w_r.setLabel('left', 'r', 'rad/s')
self.d_r.addWidget(self.w_r)
#Roll
self.w_phi = pg.PlotWidget(title="Roll Angle")
self.w_phi.setDownsampling(mode='peak')
self.w_phi.setClipToView(True)
self.curve_phi = self.w_phi.plot()
self.w_phi.setLabel('bottom', 'Time', 's')
self.w_phi.setLabel('left', 'Roll Anlge', 'rad')
self.d_phi.addWidget(self.w_phi)
#Pitch
self.w_theta = pg.PlotWidget(title="Pitch Angle")
self.w_theta.setDownsampling(mode='peak')
self.w_theta.setClipToView(True)
self.curve_theta = self.w_theta.plot()
self.w_theta.setLabel('bottom', 'Time', 's')
self.w_theta.setLabel('left', 'Pitch Angle', 'rad')
self.d_theta.addWidget(self.w_theta)
#Yaw
self.w_psi = pg.PlotWidget(title="Yaw Angle")
self.w_psi.setDownsampling(mode='peak')
self.w_psi.setClipToView(True)
self.curve_psi = self.w_psi.plot()
self.w_psi.setLabel('bottom', 'Time', 's')
self.w_psi.setLabel('left', 'Yaw Angle', 'rad')
self.d_psi.addWidget(self.w_psi)
#Motors Rotation
self.w_w = pg.PlotWidget(title="Motors Rotational Velocity")
self.w_w.setDownsampling(mode='peak')
self.w_w.setClipToView(True)
self.curve_wl = self.w_w.plot(pen = (255,0,0))
self.curve_wr = self.w_w.plot(pen = (0,255,0))
self.curve_wb = self.w_w.plot(pen = (0,0,255))
self.w_w.setLabel('bottom', 'Time', 's')
self.w_w.setLabel('left', 'Rotational Velocity', 'rpm')
self.w_w.addLegend()
self.l_w = self.w_w.plotItem.legend
self.l_w.addItem(self.curve_wl, "Left Motor")
self.l_w.addItem(self.curve_wr, "Right Motor")
self.l_w.addItem(self.curve_wb, "Rear Motor")
self.d_w.addWidget(self.w_w)
#Motors Angle
self.w_t = pg.PlotWidget(title="Motors Angle")
self.w_t.setDownsampling(mode='peak')
self.w_t.setClipToView(True)
self.curve_tl = self.w_t.plot(pen = (255,0,0))
self.curve_tr = self.w_t.plot(pen = (0,255,0))
self.w_t.setLabel('bottom', 'Time', 's')
self.w_t.setLabel('left', 'Motors Angle', 'deg')
self.d_t.addWidget(self.w_t)
self.w_t.addLegend()
self.l_t = self.w_t.plotItem.legend
self.l_t.addItem(self.curve_tl, "Left Motor")
self.l_t.addItem(self.curve_tr, "Right Motor")
self.d_t.addWidget(self.w_t)
#Elevons Angle
self.w_deltae = pg.PlotWidget(title="Elevons Angle")
self.w_deltae.setDownsampling(mode='peak')
self.w_deltae.setClipToView(True)
self.curve_deltael = self.w_deltae.plot(pen = (255,0,0))
self.curve_deltaer = self.w_deltae.plot(pen = (0,255,0))
self.w_deltae.setLabel('bottom', 'Time', 's')
self.w_deltae.setLabel('left', 'Elevons Angle', 'deg')
self.d_deltae.addWidget(self.w_deltae)
self.w_deltae.addLegend()
self.l_deltae = self.w_deltae.plotItem.legend
self.l_deltae.addItem(self.curve_deltael, "Left Elevon")
self.l_deltae.addItem(self.curve_deltaer, "Right Elevon")
self.d_deltae.addWidget(self.w_deltae)
#Data Animation
self.pts = np.vstack([self.flight_data[self.flight.i_north],
-self.flight_data[self.flight.i_east],
self.flight_data[self.flight.i_height]]).transpose()
self.plt = gl.GLLinePlotItem(pos=self.pts, color=pg.glColor(('b')),
width=1, antialias=True)
self.w.addItem(self.plt)
#Reference
self.pts_r = np.stack([self.reference_data[self.reference.i_north_r],
-self.reference_data[self.reference.i_east_r],
self.reference_data[self.reference.i_height_r]]).transpose()
self.plt_r = gl.GLLinePlotItem(pos=self.pts_r, color=pg.glColor(('r')),
width=1, antialias=True)
# print(self.pts_r[0])
self.w.addItem(self.plt_r)
#Add Geometry
self.w.addItem(self.fuselage)
self.w.addItem(self.waypoint)
self.ti_in = 0
def update(self):
self.data_initiation()
if (self.ti_in < self.t_len):
self.geometry_update()
self.waypoints_update()
self.curves_update()
self.ti_in = self.ti_in + 1;
else:
self.fuselage.translate(0, 0, 0, local=False)
def data_initiation(self):
self.t = self.flight_data[self.flight.i_time];
self.t_len = len(self.t)
self.time_ = self.flight_data[self.flight.i_time]
self.north = self.flight_data[self.flight.i_north]
self.east = self.flight_data[self.flight.i_east]
self.height = self.flight_data[self.flight.i_height]
self.velocity = self.flight_data[self.flight.i_velocity]
self.u_ = self.flight_data[self.flight.i_u]
self.v_ = self.flight_data[self.flight.i_v]
self.w_ = self.flight_data[self.flight.i_w]
self.p = self.flight_data[self.flight.i_p]
self.q = self.flight_data[self.flight.i_q]
self.r = self.flight_data[self.flight.i_r]
self.phi = self.flight_data[self.flight.i_phi]
self.theta = self.flight_data[self.flight.i_theta]
self.psi = self.flight_data[self.flight.i_psi]
self.wl = self.flight_data[self.flight.i_wl]
self.wr = self.flight_data[self.flight.i_wr]
self.wb = self.flight_data[self.flight.i_wb]
self.tl = self.flight_data[self.flight.i_tl]
self.tr = self.flight_data[self.flight.i_tr]
self.deltael = self.flight_data[self.flight.i_deltael]
self.deltaer = self.flight_data[self.flight.i_deltaer]
self.w_i = self.flight_data[self.flight.i_w_i]
self.north_r = self.reference_data[self.reference.i_north_r]
self.east_r = self.reference_data[self.reference.i_east_r]
self.height_r = self.reference_data[self.reference.i_height_r]
def geometry_update(self):
# Fuselage
self.fuselage.resetTransform()
self.fuselage.rotate(np.degrees(self.psi[self.ti_in]), 0 ,0, -1, local=False)
self.fuselage.rotate(np.degrees(self.theta[self.ti_in]), 0, -1, 0, local=True)
self.fuselage.rotate(np.degrees(self.phi[self.ti_in]), 1, 0, 0, local=True)
self.fuselage.translate(self.north[self.ti_in], -self.east[self.ti_in],
self.height[self.ti_in], local=False)
self.camera_update()
def camera_update(self):
scale_xe = 0.01
scale_ye = 0.01
scale_ze = 0.01
# self.w.pan(scale_xe*self.north[self.ti_in] + 2,
# -scale_ye*self.east[self.ti_in] + 2,
# scale_ze*self.height[self.ti_in] + 2, relative=False)
print(self.w.opts['azimuth'])
def waypoints_update(self):
self.waypoint.resetTransform()
self.w_i_n = int(self.w_i[self.ti_in])
self.waypoint.translate(self.north_r[self.w_i_n],
-self.east_r[self.w_i_n], self.height_r[self.w_i_n], local=False)
def curves_update(self):
self.curve_x.setData(self.time_[:self.ti_in], self.north[:self.ti_in])
self.curve_y.setData(self.time_[:self.ti_in], self.east[:self.ti_in])
self.curve_h.setData(self.time_[:self.ti_in], self.height[:self.ti_in])
self.curve_V.setData(self.time_[:self.ti_in], self.velocity[:self.ti_in])
self.curve_u_.setData(self.time_[:self.ti_in], self.u_[:self.ti_in])
self.curve_v_.setData(self.time_[:self.ti_in], self.v_[:self.ti_in])
self.curve_w_.setData(self.time_[:self.ti_in], self.w_[:self.ti_in])
self.curve_p.setData(self.time_[:self.ti_in], self.p[:self.ti_in])
self.curve_q.setData(self.time_[:self.ti_in], self.q[:self.ti_in])
self.curve_r.setData(self.time_[:self.ti_in], self.r[:self.ti_in])
self.curve_phi.setData(self.time_[:self.ti_in], self.phi[:self.ti_in])
self.curve_theta.setData(self.time_[:self.ti_in], self.theta[:self.ti_in])
self.curve_psi.setData(self.time_[:self.ti_in], self.psi[:self.ti_in])
self.curve_wl.setData(self.time_[:self.ti_in], self.wl[:self.ti_in])
self.curve_wr.setData(self.time_[:self.ti_in], self.wr[:self.ti_in])
self.curve_wb.setData(self.time_[:self.ti_in], self.wb[:self.ti_in])
self.curve_tl.setData(self.time_[:self.ti_in], self.tl[:self.ti_in])
self.curve_tr.setData(self.time_[:self.ti_in], self.tr[:self.ti_in])
self.curve_deltael.setData(self.time_[:self.ti_in], self.deltael[:self.ti_in])
self.curve_deltaer.setData(self.time_[:self.ti_in], self.deltaer[:self.ti_in])
def start(self):
if (sys.flags.interactive != 1) or not hasattr(QtCore, 'PYQT_VERSION'):
QtGui.QApplication.instance().exec_()
def animation(self):
timer = QtCore.QTimer()
timer.timeout.connect(self.update)
timer.start(30)
self.start()
class Construction:
def __init__(self):
self.AM = Model().solve() # return the values of the model, list
self.one = ReadData("TTRP_01.txt")
self.truck_num = 5
self.trailer_num = 3
# different TTRP_xx.txt need different argument
# self.all_locations = [['a', ['30.0', '40.0']]] + self.one.get_locations() # 01.txt
self.all_locations = [['a', ['30.0', '40.0']]
] + self.one.get_locations() # 02.txt
# compute the distance of two nodes
def compute_dist(self, i, j):
for node in self.all_locations:
if i == node[0]:
cord_i = node[1]
if j == node[0]:
cord_j = node[1]
dist_ij = hypot(
float(cord_i[0]) - float(cord_j[0]),
float(cord_i[1]) - float(cord_j[1]))
return dist_ij
# get the five tours
def get_tours(self):
seqs = []
for i in range(self.truck_num):
seq = range(i, self.one.customer_num * self.truck_num,
self.truck_num)
seqs.append(seq)
tours = []
for seq in seqs:
tour = []
for index in seq:
if self.AM[index] > 0.5:
tour.append((ceil((index + 1) / self.truck_num)) -
1) # for a standard index
tour.append('a') # add the index of depot, awful code
tours.append(tour)
return tours
# find the closest neighbor to a given node in the tour
def closest_neighbor(self, current_tour, node):
dists = {}
for cus in current_tour:
if cus == node:
continue
dist = self.compute_dist(node, cus)
dists.update({cus: dist})
return sorted(dists.items(), key=itemgetter(1))[0][0]
# add node k between node i and node j
def add(self, i, j, k):
return self.compute_dist(i, k) + self.compute_dist(
k, j) - self.compute_dist(i, j)
def add_closest_to_tour(self, current_tour, tour):
best_cost, new_tour = float('inf'), None
for k in current_tour:
if k in tour:
continue
for index in range(len(tour) - 1):
cost = self.add(tour[index], tour[index + 1], k)
if cost < best_cost:
best_cost = cost
new_tour = tour[:index + 1] + [k] + tour[index + 1:]
return new_tour
def cheapest_insertion(self, current_tour):
# print("cheapest current tour", current_tour)
# print(len(current_tour))
# f**k = len(current_tour)
# current_tour = self.get_tours()[0]
# for tour in self.get_tours():
# only 2 point, do nothing
if len(current_tour) == 2:
return current_tour
# a route only one point, it means:
# tr\pv\main_tours only have 'a'; sub-tours only have root
elif len(current_tour) == 1:
return []
starter = random.choice(current_tour)
# print(starter)
tour, tours = [starter], []
neighbor = self.closest_neighbor(current_tour, starter)
tour.append(neighbor) # the first [i, j] list
# print(tour)
while len(tour) != len(current_tour):
tour = self.add_closest_to_tour(current_tour, tour)
tours.append(tour)
# print(tour)
return tour
def check_route(self, tour):
# type_list = []
# for tour in self.get_tours():
types = []
for cus in tour:
if cus == 'a':
types.append(2)
else:
types.append(self.one.get_types()[cus])
# type_list.append(types)
return types
def tour_length(self, tour):
tour_length = 0.0
if len(tour) == 0:
return tour_length
elif len(tour) == 1:
return tour_length
elif len(tour) == 2:
return self.compute_dist(tour[0], tour[1])
else:
for i in range(len(tour) - 1):
tour_length += self.compute_dist(tour[i], tour[i + 1])
tour_length += self.compute_dist(tour[0],
tour[-1]) # because it's a circle
return tour_length
def pure_truck(self):
pure_truck = []
for route in self.get_tours()[self.trailer_num:]:
tour = self.cheapest_insertion(route)
# pure_truck.append([tour, self.tour_length(tour)])
pure_truck.append(tour)
return pure_truck
def pure_vehicle(self):
pure_vehicle = []
for tour in self.get_tours()[:self.trailer_num]:
if 1 not in self.check_route(tour):
pure_vehicle.append(tour)
return pure_vehicle
def main_sub(self):
mains_subs = []
for tour in self.get_tours()[:self.trailer_num]:
if 1 in self.check_route(tour):
init_main, init_sub = [], []
for cus in tour:
if cus == 'a':
init_main.append(cus)
elif self.one.get_types()[cus] == 0:
init_main.append(cus)
else:
init_sub.append(cus)
mains_subs.append([init_main, init_sub])
return mains_subs
def sub_num(self, s):
sub_demands = 0.0
for cus in s:
sub_demands += self.one.get_demands()[
cus] # s 中的索引和 get_demands 中的一样吗❓
return ceil(sub_demands / self.one.truck_cap)
# def complete_tour(self, ms):
def complete_tour(self, ms):
main_tour = self.cheapest_insertion(ms[0])
# 储存所有的子路径
# 如果只有一个子路径，查询为 subs[0]
subs = []
temp_s = ms[1]
for i in range(self.sub_num(ms[1])):
sub_demands = 0.0
s = []
for cus in temp_s:
sub_demands += self.one.get_demands()[cus]
if sub_demands < self.one.truck_cap:
s.append(cus)
subs.append(s)
# 这里是移除上面循环中符合条件的客户
temp_s = [x for x in temp_s if x not in s]
sub_tour = []
for sub in subs:
# 连接点不能是仓库，所以是 [:-1]
connector = self.closest_neighbor(ms[0][:-1], sub[0])
sub.append(connector)
sub_tour.append(self.cheapest_insertion(sub))
# complete_tours = [main_tour, sub_tour, self.tour_length(main_tour) + self.tour_length(sub_tour)]
complete_tours = [main_tour, sub_tour]
return complete_tours
def all_complete_tour(self):
complete_tours = []
for ms in self.main_sub():
complete_tours.append(self.complete_tour(ms))
return complete_tours
def total_length(self):
length = 0.0
for route in self.pure_truck():
length += self.tour_length(route)
for route in self.pure_vehicle():
length += self.tour_length(route)
cv = self.all_complete_tour()
main_tours, sub_tours = [], []
for seqs in cv:
main_tours.append(seqs[0])
sub_tours.append(seqs[1]) # this will be a list of list of list
split_sub_tours = []
for tour in sub_tours:
split_sub_tours += tour
for route in main_tours:
length += self.tour_length(route)
for route in split_sub_tours:
length += self.tour_length(route)
return length
def all_route(self):
return self.pure_truck(), self.pure_vehicle(), self.all_complete_tour()
def _init_attr(self):
logger.debug('_init_attr')
self.rd = ReadData()
def scrape(self):
names = ReadData().get_all_names()
self.parse_pages(names)
return self._firms
def __init__(self):
self.one = ReadData("TTRP_01.txt")
self.truck_num = 5
self.trailer_num = 3
class Assignment:
def __init__(self):
self.one = ReadData("TTRP_01.txt")
self.truck_num = 5
self.trailer_num = 3
def costs_all(self):
dists_di = []
# n = 0
for i in self.one.get_locations():
# (1)仓库到客户 i 的距离，存储为索引和距离的列表
dist_di = hypot(
float(self.one.depot_loc[0]) - float(i[1][0]),
float(self.one.depot_loc[1]) - float(i[1][1]))
dists_di.append([i[0], float(dist_di)])
# n += 1 # 保证索引从 0 开始
# print(dists_di)
# return dists_di
# def seed_sets(self):
# 按照与仓库的距离选 first 种子点，选10次，拿到索引
rank_dist = sorted(dists_di, key=lambda dist_di: dist_di[1])
seeds1_ind = []
dist_ds = [] # (2)存储仓库到种子点的距离值
for i in range(10):
seeds1_ind.append(rank_dist[i][0])
dist_ds.append(rank_dist[i][1])
# print(seeds1_ind)
# print(dist_ds)
# 选种子点集合，这部分可能在计算上有错误...
# 选择种子点，组成 seed set，根据 1st 种子点的不同，有不同的 seed set
seed_sets = []
cus_sets = []
for seed1 in seeds1_ind:
seed_set = [seed1]
# seed_set = [45, 10]
# print("初始种子点:", seed_set)
dists = []
cus = self.one.get_locations()
for i in seed_set:
for j in cus:
if j[0] == i:
cus.remove(j)
# print("初始的 cus 长度:", len(cus))
while len(seed_set) < self.truck_num:
dists_sum = []
for i in cus:
dist_ipsum = 0.0
# ind_i = one.get_locations().index(i)
dist_i = dists_di[i[0]][1]
# print(dist_i)
for pseed in seed_set:
dist_ip = hypot(
float(i[1][0]) -
float(self.one.get_locations()[pseed][1][0]),
float(i[1][1]) -
float(self.one.get_locations()[pseed][1][1]))
dist_ipsum += dist_ip
# print(dist_ip)
# print("ipsum:", dist_ipsum)
dist_isum = dist_i + dist_ipsum
dists_sum.append([i[0], dist_isum])
# print(len(dists_sum))
rank_sum = sorted(dists_sum, key=lambda dist_sum: dist_sum[1])
# print(rank_sum)
seed_set.append(rank_sum[0][0])
for i in cus:
if i[0] == rank_sum[0][0]:
cus.remove(i)
# print("这里是cus:", len(cus))
# print(seed_set)
seed_sets.append(seed_set)
# print("last cus", len(cus))
cus_sets.append(cus)
# print(len(cus_sets)) # 10组
# print(cus_sets) # 10组 每组是除了种子点的其余点
# print(seed_sets) # 10组 每组5个值（跟卡车数或者说路线数相同）
# return seed_sets
# def costs_all(self):
# 求解指派花费 d_ij 这里的 j 是卡车数，也其实是路径数
# cost_ij = dists_id + dist_is + dist_sd
costs_ij = []
# i 到种子点（五个索引的集合）
costs_all = []
for t in range(10):
costs = []
# for i in cus_sets[t]:
# dist_id = hypot(float(i[1][0]) - float(one.depot_loc[0]),
# float(i[1][1]) - float(one.depot_loc[1]))
for i in dists_di:
dist_id = i[1]
cost = []
for seed in seed_sets[t]:
# dist_is = hypot(float(i[1][0]) - float(one.get_locations()[seed][1][0]),
# float(i[1][1]) - float(one.get_locations()[seed][1][1])) # 客户到各个路线的种子点的距离
dist_is = hypot(
float(self.one.get_locations()[i[0]][1][0]) -
float(self.one.get_locations()[seed][1][0]),
float(self.one.get_locations()[i[0]][1][1]) -
float(self.one.get_locations()[seed][1][1]))
dist_sd = hypot(
float(self.one.get_locations()[seed][1][0]) -
float(self.one.depot_loc[0]),
float(self.one.get_locations()[seed][1][1]) -
float(self.one.depot_loc[1]))
cost_ij = dist_id + dist_is + dist_sd # 这里对每个路线下的客户 i 计算了一次 d_ij
cost.append(cost_ij)
# print(cost)
# print()
costs.extend(cost)
costs_all.append(costs)
# print("应该是十组之一", len(costs)) # 长度为（剔除了路线点）客户数
# print(len(costs_all)) # 10组
# 哪一组是最好的呢？
return costs_all
